iCub is our flagship humanoid robot with considerable ongoing effort in stabilizing "version one". Several upgrades, mainly in the direction of providing joint-level torque control, are under design. A full-body skin is also under development. The iCub has 53 degrees of freedom and full humanoid shape in the size of a 3.5 years old child. The iCub is completely open source from the hardware to the very last line of code. It has been initially developed as part of the EU project RobotCub and later adopted by the Cognitive Humanoids Laboratory as its standard research platform.
G. Metta, G. Sandini, D. Vernon, L. Natale, F. Nori. The iCub humanoid robot: an open platform for research in embodied cognition. In PerMIS: Performance Metrics for Intelligent Systems Workshop. Aug 19-21, 2008, Washington DC – USA.

James is our legacy robot developed at the LIRA-Lab (University of Genoa). James consists of 22 degrees of freedom (DOFs), actuated by a total of 23 motors, whose torque is transmitted to the joints by belts and stainless-steel tendons. James has cameras, inertial sensors, joint-angle sensors complemented by a 6-axial force/torque sensor and custom-designed tactile sensors in the fingertips. The hand alone has a total of 17 joints controlled by 8 motors. The overall size of James is that of a ten-year old boy, with the appropriate proportions for a total weight of about 8 kg.
L. Jamone, G. Metta, F. Nori and G. Sandini.James: A Humanoid Robot Acting over an Unstructured World. Accepted to the Humanoids 2006 conference, December 4-6th, 2006, Genoa, Italy.